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nilay994 / simple-cpp-drone

Making Raspberry Pi send MSP commands to Betaflight
MIT License
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MSP1: optimize bw #7

Open nilay994 opened 3 years ago

nilay994 commented 3 years ago

Optimize bandwidth:

  1. From AlphaPilot, we know that 50 Hz is enough for motor commands.
  2. calc: with motor commands and IMU, we need to exchange 35B @ 115200 bps which takes 3.5 ms.
  3. MSP communication thread delay cannot be more than 200 Hz in that case.
  4. recheck jitter and latency via timestamping